ShapeTermLearner.h

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#pragma once

// Package includes
#include <boost/shared_ptr.hpp>

#include <Pose.h>

// Local includes
#include "learner/foreground/ocm/ocm/OcmTree.h"
#include "learner/foreground/ocm/ocm/OcmModel.h"
#include "learner/foreground/ocm/ocm/TermLearner.h"

#include "learner/foreground/ocm/ocm/shape/GMMParameterEstimator.h"

#include "helper/MathHelper.h"

namespace ProbabilisticSceneRecognition {
  
  class ShapeTermLearner : public TermLearner {
  public:
    
    ShapeTermLearner(std::string pSceneName = "");
    
    ~ShapeTermLearner();
    
   void learn(boost::shared_ptr<OcmModel> pModel);
   
  private:
    
   void learn(boost::shared_ptr<OcmTree> pNode);
    
    void learnNodePose(boost::shared_ptr<OcmTree> pParent, boost::shared_ptr<OcmTree> pChild);

    void getParameter(std::string pParameterName, double& pParameter);

    void getParameter(std::string pParameterName, int& pParameter);
    
  private:
    
    int mNumberKernelsMin, mNumberKernelsMax;
    
    int mRunsPerKernel;
    
    int mNumberOfSyntheticSamples;
    
    double mIntervalPosition, mIntervalOrientation;
    
    std::string mPathOrientationPlots;
    
    ros::NodeHandle mPrivateNamespaceHandle;

    int mAttemptsPerRun;

    std::string mSceneName;
  };
}